CN111591267A - Vehicle collision processing device, method and control device - Google Patents
Vehicle collision processing device, method and control device Download PDFInfo
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- CN111591267A CN111591267A CN202010421632.0A CN202010421632A CN111591267A CN 111591267 A CN111591267 A CN 111591267A CN 202010421632 A CN202010421632 A CN 202010421632A CN 111591267 A CN111591267 A CN 111591267A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
Abstract
Disclosed are a vehicle collision processing device, a method and a control device, relating to the technical field of unmanned vehicles. Wherein the device includes: a crash sensor for providing a crash signal in the event of a crash of the vehicle; a signal holder for holding the collision signal for a preset time to provide a continuation signal of the collision signal; and the brake actuator is used for providing braking force by taking the continuous signal as a trigger signal so as to brake the vehicle. The processing device provided by the embodiment of the invention utilizes the signal retainer to provide the continuous signal of the collision signal in the unmanned driving process, directly utilizes the continuous signal to trigger the brake actuator to provide the braking force, reduces the information transmission link of the collision signal, and improves the braking efficiency of the unmanned vehicle in the automatic driving process.
Description
Technical Field
The invention relates to the technical field of unmanned vehicles, in particular to a vehicle collision processing device, a vehicle collision processing method and a vehicle collision processing control device.
Background
Unmanned vehicles are unmanned in the whole running process, and the operation stability and the running safety of automobiles are of great importance. Collision sensors are integrated into many unmanned vehicles and may be used to monitor whether the unmanned vehicle has collided with an obstacle. According to a Controller Area Network (CAN) bus protocol, a collision signal output by a collision sensor is communicated with a Vehicle Control Unit (VCU) through a Controller Area Network (CAN) bus. The Vehicle Control Unit (VCU) provides a continuation signal of which a signal value is maintained for a preset time according to the collision signal, and provides the continuation signal to an electronic parking brake system (EPB) to brake the unmanned vehicle. Obviously, when the unmanned vehicle collides, the collision signal provided by the collision sensor needs to be processed by a Vehicle Control Unit (VCU) before being provided to the brake actuator, so that the information transmission link of the collision signal is increased, and the braking efficiency of the unmanned vehicle is reduced.
Disclosure of Invention
In order to overcome the problems in the related art, embodiments of the present invention provide a vehicle collision processing apparatus, method and control apparatus, in which a signal retainer is used to provide a continuous signal of a collision signal, and the continuous signal is directly used to trigger a brake actuator to provide a braking force, so that the information transmission link of the collision signal is reduced, and the braking efficiency of an unmanned vehicle is improved.
According to a first aspect of an embodiment of the present invention, there is provided a vehicle collision processing apparatus including: a collision sensor, a signal retainer and a brake actuator,
the collision sensor is used for providing a collision signal in the event of a vehicle collision;
the signal holder is used for holding the collision signal for a preset time to provide a continuous signal of the collision signal;
the brake actuator is used for providing braking force to brake the vehicle by taking the continuous signal as a trigger signal.
Optionally, the impact sensor comprises one or more types of impact sensors, each type of impact sensor sensing a respective quantity to be sensed and comparing with a respective quantity to be sensed threshold, the impact signal being provided when the quantity to be sensed by at least one type of impact sensor is greater than the respective quantity to be sensed threshold.
Optionally, the brake actuator comprises a plurality of brake actuators, and the processing device further comprises: a magnitude detector and a plurality of comparators,
the amplitude detector is connected with the output of the signal holder and is used for detecting the amplitude signal of the continuous signal;
the plurality of comparators are connected to an output of the amplitude detector, each of the plurality of comparators having as inputs an amplitude signal of the sustain signal and an input reference amplitude signal of the respective comparator, and generating an active level when the amplitude signal of the sustain signal is greater than the corresponding input reference amplitude signal.
Optionally, the processing apparatus further comprises: the gating device is used for controlling the operation of the gate,
the gate is connected to the output of the signal holder and the outputs of the comparators, and is configured to transmit the continuous signal to one or more of the brake actuators according to the comparison results of the comparators.
Optionally, the number of brake actuators, which start the braking function with the continuous signal as the trigger signal, in the plurality of brake actuators is equal to the number of active levels received by the gate.
Alternatively, assuming that the number of comparators is n, the input reference amplitude signal of each comparator is b, 2b, … … nb, respectively, where b is the reference amplitude.
Optionally, the processing apparatus further comprises: a signal isolator connected to an output of the crash sensor, the signal retainer connected to an output of the signal isolator,
in the event of multiple collisions of the vehicle, the signal isolator is configured to transmit a collision signal provided upon a first collision of the vehicle to the signal holder and to isolate a collision signal provided by the collision sensor after the first collision.
Optionally, the longer the duration of the duration signal, the greater the braking force provided by the brake actuator upon activation of the duration signal.
According to a second aspect of the embodiments of the present invention, there is provided a vehicle collision processing method including:
providing a collision signal in the event of a collision of the vehicle with a collision sensor;
maintaining the collision signal for a preset time period to provide a continuation signal of the collision signal;
and starting a brake actuator to provide braking force to brake the vehicle by taking the continuous signal as a trigger signal.
According to a third aspect of the embodiments of the present invention, there is provided a vehicle collision processing control apparatus including:
a monitoring unit configured to perform providing a collision signal with a collision sensor in case of a collision of the vehicle;
a signal holding unit configured to perform holding of the collision signal for a preset time to provide a continuation signal of the collision signal;
and the brake unit is configured to start a brake actuator to provide braking force to brake the vehicle by taking the continuous signal as a trigger signal.
According to a fourth aspect of the embodiments of the present invention, there is provided an unmanned vehicle having the vehicle collision processing apparatus as described above.
According to a fifth aspect of the embodiment of the present invention, there is provided a vehicle collision processing control apparatus including: a processor; a memory for storing the processor-executable instructions; wherein the processor is configured to perform the vehicle collision handling method described above.
According to a sixth aspect of embodiments of the present invention, there is provided a computer-readable storage medium storing computer instructions that, when executed, implement the vehicle collision handling method as described above.
According to a seventh aspect of embodiments of the present invention, there is provided a computer program product comprising a computer program product, the computer program comprising program instructions which, when executed by a mobile terminal, cause the mobile terminal to perform the steps of the vehicle collision handling method described above.
The invention has the following advantages or beneficial effects:
when the unmanned vehicle collides, the collision signal provided by the collision sensor is not required to be processed by a Vehicle Control Unit (VCU), the signal retainer is used for providing a continuous signal of the collision signal, and the continuous signal is directly used for triggering the brake actuator to provide braking force, so that the braking logic is simplified. The signal holder and the crash sensor can be integrated, and the functions of the vehicle crash processing device are more integrated. Therefore, the information transmission link of the collision signal is reduced, and the braking efficiency of the unmanned vehicle is improved.
Drawings
The above and other objects, features and advantages of the present invention will become more apparent from the following description of the embodiments of the present invention with reference to the accompanying drawings, in which:
fig. 1 shows a schematic configuration of an execution environment of a vehicle collision processing apparatus of the present invention.
Fig. 2 is a schematic configuration diagram of a vehicle collision processing device according to a first embodiment of the present invention.
Fig. 3 is a schematic configuration diagram of a vehicle collision processing apparatus according to a second embodiment of the present invention.
Fig. 4 is a schematic configuration diagram of a vehicle collision processing apparatus according to a third embodiment of the present invention.
Fig. 5 is a flowchart illustrating a vehicle collision processing method according to a fourth embodiment of the present invention.
Fig. 6 is a flow chart of a vehicle collision processing method according to an embodiment of the present invention.
Fig. 7 is a flowchart illustrating a vehicle collision processing method according to a second embodiment of the present invention.
Fig. 8 is a flowchart illustrating a vehicle collision processing method according to a third embodiment of the present invention.
Fig. 9 is a flowchart illustrating a vehicle collision processing method according to a fourth embodiment of the present invention.
Fig. 10 shows a schematic configuration diagram of a vehicle collision processing control apparatus of the present invention.
Detailed Description
The present invention will be described below based on examples, but the present invention is not limited to only these examples. In the following detailed description of the present invention, certain specific details are set forth. It will be apparent to one skilled in the art that the present invention may be practiced without these specific details. Well-known methods, procedures, and procedures have not been described in detail so as not to obscure the present invention. The figures are not necessarily drawn to scale.
With the development of artificial intelligence and automatic control technology, unmanned technology has been gradually applied to life, and unmanned vehicles have become the development direction of future traffic. The vehicle of the embodiment of the invention is an unmanned vehicle, and the structural schematic diagram of the execution environment of the vehicle collision processing device provided by the embodiment of the invention is shown in the attached figure 1. The vehicle collision processing device 100 is mounted on the unmanned vehicle 1000. The vehicle collision processing apparatus 100 is an important safety protection apparatus of the unmanned vehicle 1000. The unmanned vehicle 1000 is controlled to run by the unmanned technology, and the vehicle collision processing device 100 of the embodiment of the invention is controlled by the controller mounted on the unmanned vehicle 1000 during running, and the vehicle collision processing method of the embodiment of the invention is applied to realize that when the unmanned vehicle 1000 collides, the brake actuator is controlled to provide braking force to brake the unmanned vehicle 1000 according to the continuous signal of the monitored collision signal.
The first implementation mode comprises the following steps:
a vehicle collision processing method according to the present embodiment is shown in fig. 6, and is applied to a vehicle collision processing apparatus 100 shown in fig. 2. Referring to fig. 2, a vehicle collision processing device 100 of the present embodiment includes: impact sensor 110, signal holder 120, and brake actuator 130. Collision sensor 110, signal holder 120, and brake actuator 130 are mounted on the unmanned vehicle.
A collision sensor 110 for providing a collision signal S in case of a collision of the unmanned vehicle. The impact sensor 110 includes one or more types of impact sensors, each type of impact sensor sensing a respective amount to be sensed and comparing to a respective amount to be sensed threshold, and providing an impact signal S when the amount to be sensed by at least one type of impact sensor is greater than the corresponding amount to be sensed threshold. In some embodiments, impact sensors 110 include, but are not limited to: mechanical sensors and/or deformation sensors and/or attitude sensors, the crash signals S including but not limited to: the collision force of the unmanned vehicle and/or the deformation amount of the unmanned vehicle and/or the pose change amount of the unmanned vehicle. In a normal driving situation of the unmanned vehicle, the collision force monitored by the mechanical sensor serving as the collision sensor 110 is small, the deformation amount of the unmanned vehicle monitored by the deformation sensor serving as the collision sensor 110 is small, and the posture of the unmanned vehicle monitored by the posture sensor serving as the collision sensor 110 is a horizontal balance posture parallel to the road surface. When the unmanned vehicle collides, a mechanical sensor serving as the collision sensor 110 monitors a large collision force, and provides a collision signal S when the collision force is greater than a first threshold to be sensed; or the deformation amount of the unmanned vehicle monitored by the deformation sensor serving as the collision sensor 110 is larger, and the collision signal S is provided when the deformation amount is larger than the second threshold value of the amount to be sensed; or the pose of the unmanned vehicle monitored by the pose sensor serving as the collision sensor 110 may be an inclined pose forming a certain included angle with the road surface, and the collision signal S is provided when the variation of the pose is greater than the threshold of the third amount to be sensed; or a mechanical sensor as the collision sensor 110 monitors the magnitude of the collision force of the unmanned vehicle, a deformation sensor monitors the deformation amount of the unmanned vehicle, and an attitude sensor monitors the pose variation amount of the unmanned vehicle, and when at least one to-be-sensed amount of the collision force, the deformation amount, and the pose variation amount is greater than a corresponding to-be-sensed amount threshold, a collision signal S is provided.
The signal holder 120 is used to hold the impact signal S for a preset time (e.g., 200ms) to provide a duration signal C of the impact signal S. The brake actuator 130 is used to provide a braking force F to brake the unmanned vehicle with the continuation signal C as a trigger signal.
Specifically, the vehicle collision processing method according to the present embodiment includes:
in step S610, a collision signal is provided with a collision sensor in the event of a collision of the vehicle.
In this step, the controller mounted on the unmanned vehicle provides a collision signal S by using the collision sensor 110 when the unmanned vehicle collides. In some embodiments, each type of impact sensor 110 senses a respective quantity to be sensed and compares it to a respective quantity to be sensed threshold, and provides an impact signal S when the quantity to be sensed by at least one type of impact sensor is greater than the respective quantity to be sensed threshold. For example, the collision sensor 110 is a mechanical sensor, and when the unmanned vehicle collides, the collision sensor 110 senses the amount to be sensed, and when the amount to be sensed is greater than a first threshold value (e.g., 35N) of the amount to be sensed, the collision sensor 110 provides a collision signal S.
In step S620, the collision signal is maintained for a preset time period to provide a continuation signal of the collision signal.
In this step, the controller mounted on the unmanned vehicle holds the collision signal S with the signal holder 120 for a preset time (e.g., 200ms) to provide the continuation signal C of the collision signal S. In some embodiments, the time it takes for the brake force F provided by the brake actuator 130 to reach the maximum braking force upon activation of the duration signal C is determined. The collision signal S is maintained for a time equal to said elapsed time to provide a continuation signal C of the collision signal S. It should be noted that, for a certain duration (e.g., 200ms), the longer the duration of the duration signal C, the greater the braking force F provided by the brake actuator 130 upon activation of the duration signal C. When the duration of the duration signal C reaches a certain duration (e.g., 200ms), the brake actuator 130 provides the maximum braking force fmax upon activation of the duration signal C.
In step S630, the brake actuator is activated to provide braking force to brake the vehicle using the continuous signal as a trigger signal.
In this step, the controller mounted on the unmanned vehicle activates the brake actuator 130 with the continuation signal C as a trigger signal by the electronic parking brake system to provide the braking force F to brake the unmanned vehicle.
It should be noted that the duration of the collision signal may be determined according to the performance of the electronic parking brake system. In some embodiments, the electronic parking brake system requires a duration signal lasting for a certain preset time (e.g. 200ms) to be triggered to activate the brake function, and the duration of the duration signal of the collision signal is at least the certain preset time.
Thus, according to the present embodiment, a collision signal is provided by a collision sensor in the event of a collision of the unmanned vehicle, the collision signal is held by a signal holder for a preset time (e.g., 200ms) to provide a continuation signal of the collision signal, which triggers a brake actuator to provide a braking force to brake the unmanned vehicle. When the unmanned vehicle collides, the collision signal provided by the collision sensor is not required to be processed by a Vehicle Control Unit (VCU), the signal retainer is used for providing a continuous signal of the collision signal, and the continuous signal is directly used for triggering the brake actuator to provide braking force, so that the braking logic is simplified. The signal holder and the crash sensor can be integrated, and the functions of the vehicle crash processing device are more integrated. Therefore, the information transmission link of the collision signal is reduced, and the braking efficiency of the unmanned vehicle is improved.
The second embodiment:
a vehicle collision processing method according to the present embodiment is shown in fig. 7, and is applied to a vehicle collision processing apparatus 200 shown in fig. 3. Referring to fig. 3, the vehicle collision processing device 200 of the present embodiment differs from the vehicle collision processing device 100 shown in fig. 2 in that the vehicle collision processing device 200 of the present embodiment includes five brake actuators (a brake actuator 231, a brake actuator 232, a brake actuator 233, a brake actuator 234, and a brake actuator 235) that respectively receive the continuation signal C and provide five braking forces (a braking force F1, a braking force F2, a braking force F3, a braking force F4, and a braking force F5) with the continuation signal C as a trigger signal to brake the unmanned vehicle. The vehicle collision processing method of the present embodiment differs from the vehicle collision processing method shown in the first embodiment in that five brake actuators (brake actuator 231, brake actuator 232, brake actuator 233, brake actuator 234, and brake actuator 235) respectively receive the continuation signal C and activate the brake actuators with the continuation signal C as a trigger signal to provide five braking forces (braking force F1, braking force F2, braking force F3, braking force F4, and braking force F5) to brake the unmanned vehicle.
Specifically, the vehicle collision processing method according to the present embodiment includes:
in step S710, a collision signal is provided with a collision sensor in the event of a collision of the vehicle.
This step is identical to step S510 shown in fig. 5, and will not be described here.
In step S720, the collision signal is maintained for a preset time period to provide a continuation signal of the collision signal.
This step is identical to step S520 shown in fig. 5, and will not be described here.
In step S730, a plurality of brake actuators are activated to provide a plurality of braking forces to brake the vehicle using the continuous signal as a trigger signal.
In this step, the controller mounted on the unmanned vehicle activates five brake actuators (brake actuator 231, brake actuator 232, brake actuator 233, brake actuator 234, and brake actuator 235) using the electronic parking brake system with the continuation signal C as a trigger signal to provide a braking force F1, a braking force F2, a braking force F3, a braking force F4, and a braking force F5, respectively, to brake the unmanned vehicle.
Therefore, according to the present embodiment, a collision signal is provided by a collision sensor in the event of a collision of the unmanned vehicle, the collision signal is held by a signal holder for a preset time (e.g., 200ms) to provide a continuation signal of the collision signal, and the continuation signal is used as a trigger signal to activate a plurality of brake actuators to provide a plurality of braking forces to brake the unmanned vehicle. When the unmanned vehicle collides, the plurality of brake actuators provide a plurality of braking forces to simultaneously brake the unmanned vehicle, so that the braking capability of the vehicle collision processing device is improved, the braking time of the unmanned vehicle is shortened, and the braking efficiency of the unmanned vehicle is further improved.
The third embodiment is as follows:
a vehicle collision processing method according to the present embodiment is shown in fig. 8, and is applied to a vehicle collision processing apparatus 300 shown in fig. 4. Referring to fig. 4, the vehicle collision processing device 300 of the present embodiment differs from the vehicle collision processing device 100 shown in fig. 2 in that the vehicle collision processing device 300 of the present embodiment includes five brake actuators (a brake actuator 331, a brake actuator 332, a brake actuator 333, a brake actuator 334, and a brake actuator 335), a magnitude detector 140 and a gate 160 connected to an output of a signal holder 120, and a plurality of comparators 150 connected to an output of the magnitude detector 140. The plurality of comparators 150 include, for example, a comparator U1, a comparator U2, a comparator U3, a comparator U4, and a comparator U5. The gate 160 includes, for example, a gate switch K1, a gate switch K2, a gate switch K3, a gate switch K4, and a gate switch K5. The amplitude detector 140 detects the amplitude of the sustain signal C to obtain an amplitude signal P of the sustain signal C. Each of the plurality of comparators 150 has as input the amplitude signal P of the sustain signal C and the input reference amplitude signal R of the respective comparator, and generates an active level T when the amplitude signal P of the sustain signal C is greater than the corresponding input reference amplitude signal R.
The outputs of the plurality of comparators 150 are connected to a gate 160, and the gate 160 is configured to transmit a duration signal C to one or more of the five brake actuators (brake actuator 331, brake actuator 332, brake actuator 333, brake actuator 334, and brake actuator 335) based on the comparison of the plurality of comparators 150. Of the five brake actuators, the number of brake actuators that activate the braking function with the continuation signal C as a trigger signal is equal to the number of active levels received by the gate 160. The vehicle collision processing method of the present embodiment differs from the vehicle collision processing method shown in the first embodiment in that the amplitude of the continuation signal C is detected to obtain the amplitude signal P of the continuation signal C. The amplitude signal P of the sustaining signal C is compared with the input reference amplitude signal R of each comparator, and the active level T is generated when the amplitude signal P of the sustaining signal C is greater than the corresponding input reference amplitude signal R. And starting the brake actuators with the number equal to the number of effective levels in the five brake actuators by taking the continuous signal C as a trigger signal.
Specifically, the vehicle collision processing method according to the present embodiment includes:
in step S810, a collision signal is provided in the event of a collision of the vehicle with a collision sensor.
This step is identical to step S510 shown in fig. 5, and will not be described here.
In step S820, the collision signal is maintained for a preset time period to provide a continuation signal of the collision signal.
This step is identical to step S520 shown in fig. 5, and will not be described here.
In step S830, the amplitude of the continuous signal is detected to obtain an amplitude signal of the continuous signal.
In this step, the controller mounted on the unmanned vehicle detects the amplitude of the continuation signal C using the amplitude detector 140 to obtain the amplitude signal P of the continuation signal C. For example, the collision sensor 110 is a mechanical sensor, and when the unmanned vehicle collides, the collision sensor 110 senses the amount to be sensed, and when the amount to be sensed is greater than the first threshold value to be sensed, the collision sensor 110 provides the collision signal S. The amplitude of the quantity to be sensed is, for example, 50N, and the amplitude of the amplitude signal P of the continuation signal C is, for example, 50N.
In step S840, the amplitude signal of the sustain signal and the input reference amplitude signal of each comparator are respectively compared, and an active level is generated when the amplitude signal of the sustain signal is greater than the corresponding input reference amplitude signal.
In this step, the controller mounted on the unmanned vehicle compares the amplitude signal P of the continuation signal C with the input reference amplitude signal R of each comparator by the plurality of comparators 150, and generates the active level T when the amplitude signal P of the continuation signal C is greater than the corresponding input reference amplitude signal R. In some embodiments, the comparator U1 compares the magnitude signal P of the sustain signal C with the input reference magnitude signal R1, producing an active level T1 when the magnitude signal P is greater than the input reference magnitude signal R1. The comparator U2 compares the amplitude signal P of the sustain signal C with the input reference amplitude signal R2, and generates an active level T2 when the amplitude signal P is greater than the input reference amplitude signal R2. The comparator U3 compares the amplitude signal P of the sustain signal C with the input reference amplitude signal R3, and generates an active level T3 when the amplitude signal P is greater than the input reference amplitude signal R3. The comparator U4 compares the amplitude signal P of the sustain signal C with the input reference amplitude signal R4, and generates an active level T4 when the amplitude signal P is greater than the input reference amplitude signal R4. The comparator U5 compares the amplitude signal P of the sustain signal C with the input reference amplitude signal R5, and generates an active level T5 when the amplitude signal P is greater than the input reference amplitude signal R5.
In step S850, the number of brake actuators equal to the number of active levels among the plurality of brake actuators is activated using the continuation signal as a trigger signal.
In this step, the controller mounted on the unmanned vehicle activates the same number of brake actuators as the number of active levels among the five brake actuators using the gate 160 and the continuation signal C as a trigger signal. In some embodiments, the input reference amplitude signal R1 of the comparator U1, the input reference amplitude signal R2 of the comparator U2, the input reference amplitude signal R3 of the comparator U3, the input reference amplitude signal R4 of the comparator U4 and the input reference amplitude signal R5 of the comparator U5 are b, 2b, … … 5b, respectively, where b is a reference amplitude, and the reference amplitude b is, for example, a threshold value of the amount to be sensed of the at least one type of collision sensor. When the input reference amplitude signal R1< amplitude signal P < input reference amplitude signal R2, the comparator U1 generates an active level T1, and the gate 160 turns on the gate switch K1, the brake actuator 331 is activated to provide the braking force F1 under the trigger of the continuous signal C. When the reference amplitude signal R2< amplitude signal P < input reference amplitude signal R3 is input, the comparator U1 generates an active level T1, the comparator U2 generates an active level T2, the gate switch K1 and the gate switch K2 are turned on by the gate 160, and the brake actuator 331 and the brake actuator 332 are activated to provide the braking force F1 and the braking force F2 under the trigger of the continuous signal C. When the reference amplitude signal R3< amplitude signal P < input reference amplitude signal R4, the comparator U1 generates an active level T1, the comparator U2 generates an active level T2, and the comparator U3 generates an active level T3, at this time, the gate 160 turns on the gate switch K1, the gate switch K2, and the gate switch K3, and the brake actuator 331, the brake actuator 332, and the brake actuator 333 are activated to provide the braking force F1, the braking force F2, and the braking force F3 under the trigger of the continuation signal C. When the reference amplitude signal R4< amplitude signal P < input reference amplitude signal R5 is input, the comparator U1 generates an active level T1, the comparator U2 generates an active level T2, the comparator U3 generates an active level T3, and the comparator U4 generates an active level T4, at which time the gate 160 turns on the gate switch K1, the gate switch K2, the gate switch K3, and the gate switch K4, and the brake actuator 331, the brake actuator 332, the brake actuator 333, and the brake actuator 334 are activated to provide the braking force F1, the braking force F2, the braking force F3, and the braking force F4 under the trigger of the continuation signal C. When the reference amplitude signal R5< amplitude signal P is input, the comparator U1 generates an active level T1, the comparator U2 generates an active level T2, the comparator U3 generates an active level T3, the comparator U4 generates an active level T4, and the comparator U5 generates an active level T5, at this time, the gate 160 turns on the gate switch K1, the gate switch K2, the gate switch K3, the gate switch K4, and the gate switch K5, and the brake actuator 331, the brake actuator 332, the brake actuator 333, the brake actuator 334, and the brake actuator 335 are activated to provide the braking force F1, the braking force F2, the braking force F3, the braking force F4, and the braking force F5 under the trigger of the continuation signal C.
Therefore, according to the present embodiment, a collision signal is provided in the event of a collision of an unmanned vehicle using a collision sensor, the collision signal is held for a preset time (e.g., 200ms) using a signal holder to provide a duration signal of the collision signal, the magnitude signal of the duration signal and the input reference magnitude signal of each comparator are respectively compared, an active level is generated when the magnitude signal of the duration signal is greater than the corresponding input reference magnitude signal, and the number of brake actuators equal to the number of active levels among a plurality of brake actuators is activated using the duration signal as a trigger signal. When the unmanned vehicle collides, the number of the brake actuators equal to the number of the effective levels in the plurality of brake actuators is determined to be started according to the magnitude of the amplitude signal of the continuous signal, so that the matching degree of the brake capacity and the collision strength of the vehicle collision processing device is improved, the occurrence of the condition of excessive braking of the unmanned vehicle is reduced while the braking efficiency of the unmanned vehicle is improved, the energy waste of the unmanned vehicle and the abrasion of braking parts of the unmanned vehicle are reduced, and the stability and the reliability of the braking of the unmanned vehicle are improved.
The fourth embodiment:
a vehicle collision processing method according to the present embodiment is shown in fig. 9, and is applied to a vehicle collision processing apparatus 400 shown in fig. 5. Referring to fig. 5, a vehicle collision processing apparatus 400 of the present embodiment differs from the vehicle collision processing apparatus 100 shown in fig. 2 in that the vehicle collision processing apparatus 400 of the present embodiment includes a signal isolator 170. The signal isolator 170, the signal holder 120, and the collision sensor 110 may be integrated together, and the functions of the vehicle collision processing apparatus are more integrated. The signal isolator 170 is connected to the output of the impact sensor 110 and the signal holder 120 is connected to the output of the signal isolator 170. In the case where the unmanned vehicle has a plurality of collisions, the signal isolator 170 serves to transmit a collision signal S1, which is provided when the unmanned vehicle has a first collision, to the signal holder 120, and to isolate a collision signal, which is provided by the post-first-collision sensor 110. The vehicle collision processing method of the present embodiment differs from the vehicle collision processing method shown in the first embodiment in that, in the case where the unmanned vehicle has multiple collisions, the collision signal S1 provided at the time of the first collision of the unmanned vehicle is maintained for a preset time period to provide the continuation signal C1 of the collision signal S1, and the collision signal provided by the post-first-collision sensor 110 is isolated.
Specifically, the vehicle collision processing method according to the present embodiment includes:
in step S910, a collision signal is provided with a collision sensor in the event of a collision of the vehicle.
This step is identical to step S510 shown in fig. 5, and will not be described here.
In step S920, in the event of multiple collisions of the vehicle, the collision signal provided by the post-initial collision sensor is isolated.
In this step, the controller mounted on the unmanned vehicle supplies the collision signal supplied from the collision sensor 110 at the time of the first collision to the signal holder 120 by the signal isolator 170 when the unmanned vehicle collides a plurality of times, and isolates the collision signal supplied from the collision sensor 110 after the first collision. For example, when the unmanned vehicle has a primary collision, a secondary collision, and a tertiary collision, the controller mounted on the unmanned vehicle supplies the collision signal S1 supplied from the first-time collision sensor 110 to the signal holder 120 by the signal isolator 170, and isolates the collision signal S2 supplied from the second-time collision sensor 110 and the collision signal S3 supplied from the third-time collision sensor 110 by the signal isolator 170.
In step S930, the collision signal of the first collision is maintained for a preset time to provide a continuation signal of the collision signal.
In this step, the controller mounted on the unmanned vehicle holds the collision signal S1 provided by the collision sensor 110 at the time of the first collision for a preset time (e.g., 200ms) with the signal holder 120 to provide the continuation signal C1 of the collision signal S1.
In step S940, the brake actuator is activated to provide braking force to brake the vehicle using the continuous signal as a trigger signal.
This step is identical to step S530 shown in fig. 5, and will not be described here.
Therefore, according to the present embodiment, a collision signal is provided by a collision sensor in the event of a collision of an unmanned vehicle, the collision signal provided when the unmanned vehicle has a first collision is maintained for a preset time (e.g., 200ms) in the event of multiple collisions of the unmanned vehicle to provide a continuation signal of the collision signal, and the collision signal provided by the collision sensor after the first collision is isolated, the continuation signal triggering a brake actuator to provide a braking force to brake the unmanned vehicle. When the unmanned vehicle collides for multiple times, the signal retainer only needs to keep the collision signal preset time when the unmanned vehicle collides for the first time so as to provide a continuous signal of the collision signal of the first collision, so that the workload of the signal retainer is reduced, and the energy consumption of the unmanned vehicle is reduced.
Further, the present invention also provides a vehicle collision processing control apparatus to which the vehicle collision processing method of the above embodiment can be applied, as shown in fig. 10, with reference to fig. 10, the apparatus including: a monitoring unit 1010, a signal holding unit 1020, and a braking unit 1030.
The monitoring unit 1010 is configured to perform the provision of a collision signal in case of a collision of the vehicle with the collision sensor. The signal holding unit 1020 is configured to perform holding of the collision signal for a preset time to provide a continuation signal of the collision signal. The brake unit 1030 is configured to execute activating the brake actuator with the continuation signal as a trigger signal to provide a braking force to brake the unmanned vehicle.
Further, the present invention provides an unmanned vehicle having the vehicle collision processing device described in the above embodiment.
Accordingly, the present invention provides a vehicle collision handling control apparatus comprising: a processor; a memory for storing the processor-executable instructions; wherein the processor is configured to perform the vehicle collision handling method described above.
Accordingly, the present invention provides an electronic device comprising: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to perform the vehicle collision handling method described above.
Accordingly, the present invention provides a non-transitory computer readable storage medium having stored thereon computer instructions that, when executed, implement the vehicle collision processing method described above.
The flowcharts and block diagrams in the figures and block diagrams illustrate the possible architectures, functions, and operations of the systems, methods, and apparatuses according to the embodiments of the present invention, and may represent a module, a program segment, or merely a code segment, which is an executable instruction for implementing a specified logical function. It should also be noted that the executable instructions that implement the specified logical functions may be recombined to create new modules and program segments. The blocks of the drawings, and the order of the blocks, are thus provided to better illustrate the processes and steps of the embodiments and should not be taken as limiting the invention itself.
The above description is only a few embodiments of the present invention, and is not intended to limit the present invention, and various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A vehicle collision processing apparatus comprising: a collision sensor, a signal retainer and a brake actuator,
the collision sensor is used for providing a collision signal in the event of a vehicle collision;
the signal holder is used for holding the collision signal for a preset time to provide a continuous signal of the collision signal;
the brake actuator is used for providing braking force to brake the vehicle by taking the continuous signal as a trigger signal.
2. The processing device of claim 1, wherein the impact sensor comprises one or more types of impact sensors, each type of impact sensor sensing a respective quantity to be sensed and comparing to a respective quantity to be sensed threshold, the impact signal being provided when the quantity to be sensed by at least one type of impact sensor is greater than the corresponding quantity to be sensed threshold.
3. The processing device of claim 1, wherein the brake actuator comprises a plurality of brake actuators, the processing device further comprising: a magnitude detector and a plurality of comparators,
the amplitude detector is connected with the output of the signal holder and is used for detecting the amplitude signal of the continuous signal;
the plurality of comparators are connected to an output of the amplitude detector, each of the plurality of comparators having as inputs an amplitude signal of the sustain signal and an input reference amplitude signal of the respective comparator, and generating an active level when the amplitude signal of the sustain signal is greater than the corresponding input reference amplitude signal.
4. The processing device of claim 3, wherein the processing device further comprises: the gating device is used for controlling the operation of the gate,
the gate is connected to the output of the signal holder and the outputs of the comparators, and is configured to transmit the continuous signal to one or more of the brake actuators according to the comparison results of the comparators.
5. The processing device of claim 4, wherein the number of brake actuators of the plurality of brake actuators that activate a braking function with the continuation signal as a trigger signal is equal to the number of active levels received by the gate.
6. The processing apparatus according to claim 5, wherein assuming that the number of comparators is n, the input reference amplitude signal of each comparator is b, 2b, … … nb, respectively, where b is the reference amplitude.
7. The processing device of claim 1, wherein the processing device further comprises: a signal isolator connected to an output of the crash sensor, the signal retainer connected to an output of the signal isolator,
in the event of multiple collisions of the vehicle, the signal isolator is configured to transmit a collision signal provided upon a first collision of the vehicle to the signal holder and to isolate a collision signal provided by the collision sensor after the first collision.
8. A processing device according to claims 1 to 7, wherein the longer the duration of the duration signal, the greater the braking force provided by the brake actuator upon triggering of the duration signal.
9. A vehicle collision handling method, comprising:
providing a collision signal in the event of a collision of the vehicle with a collision sensor;
maintaining the collision signal for a preset time period to provide a continuation signal of the collision signal;
and starting a brake actuator to provide braking force to brake the vehicle by taking the continuous signal as a trigger signal.
10. A vehicle collision processing control apparatus comprising:
a monitoring unit configured to perform providing a collision signal with a collision sensor in case of a collision of the vehicle;
a signal holding unit configured to perform holding of the collision signal for a preset time to provide a continuation signal of the collision signal;
and the brake unit is configured to start a brake actuator to provide braking force to brake the vehicle by taking the continuous signal as a trigger signal.
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| CN114261377A (en) * | 2021-12-01 | 2022-04-01 | 阿维塔科技(重庆)有限公司 | Brake braking method and device and computer readable storage medium |
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